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1、果园采摘机械化（Mechanization of orchard harvesting）Present situation and development trend of orchard picking machineryChina is the worlds largest fruit producer and the largest fruit consumer in the world. The rapid development of fruit farming has promoted the market demand of orchard machinery. The labo
2、r force used in picking operations accounts for 33% to 50% of the labor force used in the whole production process. At present, most of the fruit picking in China is mainly manual picking. The picking operation is complex, highly seasonal, if the use of artificial picking, not only low efficiency, l
3、arge amount of labor, but also easy to cause fruit damage, if not enough manpower can not be picked will lead to economic losses. The use of picking machinery not only improves the picking efficiency, but also reduces the damage rate, saves labor costs, and improves the economic benefits of the frui
4、t growers. It is of great significance to improve the mechanization of the harvesting operations.First, the status of foreign orchard picking machinery1. mechanical picking orchard mechanical picking, mainly vibration, rocking, impact and cutting three types. Shake is the use of external force to th
5、e tree branches or vibration or shaking, the fruit produced in the weakest link of acceleration, and the separation of fruit drop. Percussive impact member is a direct collision branch or beat vibration traction of the fruit fall fruit trellis. Cutting is the way to cut branches or fruit trees to se
6、parate fruit from fruit trees. It is also divided into mechanical cutting and power cutting. The study of orchard picking machinery began in the early 40s of last century, and the western countries led by the United States, France and Britain started this research earlier. In mid 40s the United Stat
7、es began to study shaking picking machine, used for picking walnuts and apricots and other fruit, by the middle of 50s, by shaking the fruit harvesting fruit picking machine has been developed and widely used in Europe and the United States, the tractor driven shaking picking machine. To 60s, shakin
8、g the structure picking machinery is composed of static single stroke push shake machine to inertial shaking machine, pneumatic shaking machine, using power driven rubber rod collision vibration impact type falling fruit fruit machinery and many other types of fruit picking machine. At that time, th
9、e mechanical picking efficiency was generally low, the injury rate of picking was still higher, and it was not suitable for harvesting fresh edible fruits and storage fruits which were easy to damage and require good integrity. In the mid 60s, the United States studied hydraulic lifting platforms, w
10、hich were improved with the use of harvesting tools. Since the late 60s, some European and American countries have been combining fruit picking machinery with the cultivation and pruning of fruit trees, such as trimming trees to make them suitable for mechanized operations. In 70s, the emergence of
11、a variety of dynamic cutting type picking machine, such as saws, pneumatic cutting. Japans orchard planting in South China terrain similar to the terrain, many on the ground of the orchard machinery is not suitable in the hilly terrain, so Japan in early 1990s to mechanization of slope orchard. The
12、four country agricultural experimental farm adopts a pivot swing suspension mechanism as a walking part of the self-propelled picking vehicle, using a combination of television cameras and radio control. The car picked the wide wheel distance, low center of gravity, so the climbing ability; in the w
13、heel rotation mechanism, the rotary ability by a pivot suspension mechanism, so that the body of small swing and walking stability, suitable for use in a slope of 15 degrees to 30 degrees in the area.2. robot picking, at present, the research of picking machinery is mainly based on picking robot. In
14、 the late 70s, with the rapid development of computer and automatic control technology, the United States began to study all kinds of agricultural robots. Since 1983 the first picking robot in the United States since the birth, after 20 years of research and testing, the developed countries represen
15、ted by Japan, including the United States, France, Holland, Britain, Spain and other countries have successfully tested a variety of harvesting robot, such as apples, oranges, tomatoes, watermelon and grapes with artificial fruit picking intelligent robot. Picking robot mainly consists of four syste
16、ms, such as manipulator, end effector, visual identification system and walking device.Japans Kyoto University has developed a five DOF articulated manipulator in the middle of 80s, but that the working space of the manipulator does not include all the fruit position and the end effector of the manipulability is low. At the same time, Koreas apple picking robot uses a polar coordinate manipulator, rotatingThe joint can move left and right, and the joint of the screw
